... is a set of open source software libraries and tools in C# for communicating with ROS from .NET applications, in particular Unity3D.
Find some examples what you can do with ROS# here.
... provides a .NET API to ROS via rosbridge_suite.
... provides a URDF file parser for .NET applications.
... contains code for ROS nodes and ROS launch files which are useful to RosBridgeClient and/or UrdfImporter.
... is a Unity3D reference project providing Unity3D-specifc extensions to
... contains RosSharp.unitypackage the latest package of ROS# assets from the Unity3D project.
... contains Unity3D tutorial projects described described in the Wiki.
ROS# is open source under the Apache 2.0 license and is free for commercial use.
RosBridgeClient uses the following 3rd party libraries:
websocket-sharp.dllfrom websocket-sharp provided under MIT License.NewtonSoft.Json.dllfrom NewtonSoft Json.Net provided under MIT License.
UrdfImporter uses the following 3rd party libraries:
MathNet.Numerics.dllfrom Math.NET Numerics provided under MIT License.System.Threading.dllfrom TaskParallelLibrary for .NET 3.5 provided under MS-EULA License.
Both RosBridgeClient and UrdfImporter are running on .NET Framework 3.5 as this is the .NET platform currently supported by official Unity3D releases.
For Non-Unity3D-Applications blommers kindly provides a .NET Standard 2.0 version of UrdfImporter.
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Rahul Warrier for adjusting the code to enable its open source publication.
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Verena Roehrl for providing the Wiki pages and the tutorial projects.
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Karl Henkel for providing the reference for the Unity3D STL mesh importer used in this project.
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Jeremy Fix for providing the CameraImagePublisher and VelocitySubscriber
© Siemens AG, 2017
Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)